CN112676817A - Steel wire thread insert mounting system - Google Patents
Steel wire thread insert mounting system Download PDFInfo
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- CN112676817A CN112676817A CN202011500806.9A CN202011500806A CN112676817A CN 112676817 A CN112676817 A CN 112676817A CN 202011500806 A CN202011500806 A CN 202011500806A CN 112676817 A CN112676817 A CN 112676817A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a steel wire thread insert mounting system. The mounting system comprises a robot 1, an industrial camera 2, a tightening shaft 3 and a control system. A displacement sensor and a torque sensor are fixed on the tightening shaft 3, and the displacement sensor and the torque sensor acquire displacement and installation torque data of the steel wire thread insert in real time; the control system comprises a data storage module, a signal processing module and a process parameter optimization module; the signal processing module outputs a driving robot instruction, a tightening shaft working instruction and a receiving robot execution feedback instruction according to signal triggering and signal receiving instructions in the robot execution program; the process parameter optimization module establishes the relation between the installation torque, the displacement parameter and the installation quality, realizes the reconstruction of the steel wire thread sleeve installation quality model, and obtains the optimized process parameters. The invention solves the technical problems of low efficiency and poor quality caused by manual installation, realizes accurate installation of the steel wire thread insert and further improves the installation quality and efficiency.
Description
Technical Field
The invention belongs to the technical field of mechanical installation, and particularly relates to a steel wire thread insert installation system.
Background
The steel wire thread insert is generally formed by winding a high-hardness corrosion-resistant steel wire with a rhombic section, and is a spring-shaped concentric body with inner and outer threads, the outer thread of the steel wire thread insert is screwed into a thread groove specially used for mounting the steel wire thread insert on a machine part, the inner thread is a standard internal thread used for fastening a connecting piece, and the section shape of the steel wire thread insert is the combination of the inner thread and the outer thread. At present, a large number of aluminum alloy box bodies and shell parts with smaller weight are adopted to reduce the weight of products, and the problem of low threaded connection strength of the aluminum alloy parts is well solved by the steel wire thread insert technology. The installation of the steel wire thread insert mainly adopts a manual installation mode, the installation efficiency of a single steel wire thread insert is low, the qualification rate is low, the time returning repair rate of a large number of steel wire thread inserts is high, and the product manufacturing period is greatly influenced. The defects of the background art are that the manual installation of the steel wire thread insert has low efficiency and low qualification rate, operators with rich installation experience are needed, the period of the mature operator is long, and the requirement of rapid production is difficult to meet. Often because the application of force or atress are uneven during the installation in the installation, the trouble such as card is dead, jump the tooth appears, and light then the time is wasted in repeated installation, and the screw hole is destroyed to the heavy time, causes the damage of structure. These problems all seriously affect the production quality and efficiency of the product, and the traditional steel wire thread insert mounting method is difficult to meet the requirements of quick and high-quality delivery of the product.
Disclosure of Invention
The invention aims to provide a steel wire thread insert mounting system, which solves the technical problems of low efficiency and poor quality caused by manual mounting, realizes accurate mounting of a steel wire thread insert, and further improves the mounting quality and efficiency.
The technical scheme of the invention is that the steel wire thread insert mounting system comprises a robot 1, an industrial camera 2, a tightening shaft 3, a tool table 4, a feeding table 5, an operation table 6, a protective cover 7 and a control system; the robot 1, the feeding table 2 and the tooling table 4 are arranged in a protective cover 7, the tooling table 4 is used for installing products needing to be assembled with steel wire thread sleeves, the industrial camera 2 is fixed on a main shaft of the robot 1, the tightening shaft 3 is fixed at the end part of the main shaft of the robot 1, the operating table 6 is arranged outside the protective cover, an operator outputs an operating instruction through the operating table, the robot 1 receives a robot execution program output by a control system, the industrial camera and the tightening shaft are driven to move together, the industrial camera finishes part photographing, and the tightening shaft finishes steel wire thread sleeve installation;
the industrial camera 2 takes a picture of the part and transmits the picture to the control system, the control system compares the picture with a prestored picture to obtain the part type, and calls a prestored robot executive program according to the part type to drive the robot to move according to the robot executive program; the industrial camera 2 takes a picture of the part which finishes the installation of the steel wire thread insert, and the control system finishes the comparison of the picture with a prestored picture so as to judge the installation quality;
a displacement sensor and a torque sensor are fixed on the tightening shaft 3, and the displacement sensor and the torque sensor acquire displacement and installation torque data of the steel wire thread insert in real time;
the operating platform 6 is provided with a host and a display screen, the control system is solidified in the host, and the display screen displays alarm information, operation prompt information and process parameters in real time;
the control system is used for carrying out overall control on the robot, the tightening shaft and the industrial camera and comprises a data storage module, a signal processing module and a process parameter optimization module; the data storage module stores the industrial camera, the displacement sensor, the torque sensor, the robot execution program, the alarm information and the quality data according to categories; the signal processing module outputs a driving robot instruction, a tightening shaft working instruction and a receiving robot execution feedback instruction according to signal triggering and signal receiving instructions in a robot execution program, and determines whether the robot finishes the action of the working process and can perform the next action or not according to the signal receiving instruction; the process parameter optimization module receives the steel wire thread insert installation torque and the displacement parameters collected by the displacement sensor and the torque sensor, simultaneously calls quality data stored by a data storage module in the control system, establishes the relation among the installation torque, the displacement parameters and the installation quality through data statistics and analysis, realizes the reconstruction of a steel wire thread insert installation quality model, obtains optimized process parameters according to the reconstructed quality model, and the control system controls the robot and the tightening shaft to execute the steel wire thread insert installation according to the part material, the steel wire thread insert specification and the optimized process parameters.
The method has the advantages that the difficult problem that the installation process parameters of the steel wire thread insert are difficult to define is solved through the reconstruction of the installation quality model of the steel wire thread insert; the invention adopts the optimized technological parameters and the real-time monitoring of the installation parameters, thereby solving the problems of poor consistency of the installation quality of the steel wire thread insert and low efficiency; the invention provides a reference method for the conversion from the manual assembly mode to the automatic assembly mode and provides an effective solution method for widening the application range of the automatic technology; according to the invention, the tightening shaft and the robot execute the installation process according to the optimized technological parameters, so that the accurate installation of the steel wire thread insert is realized, and the installation quality and efficiency are further improved; the invention adopts an industrial camera to improve the applicability of the steel wire thread insert system, can be widely applied to automatic assembly, and fills the blank of the installation of the steel wire thread insert based on automatic and digital methods.
Drawings
Fig. 1 is a schematic view showing a configuration of a wire thread insert mounting system according to the present invention.
Detailed Description
The technical scheme of the invention is further described in detail in the following with the accompanying drawings of the specification.
As shown in fig. 1, the wire thread insert mounting system of the present invention includes a robot 1, an industrial camera 2, a tightening shaft 3, a tooling table 4, a loading table 5, an operation table 6, a protection cover 7, and a control system. The robot 1, the feeding table 2 and the tooling table 4 are arranged in the protective cover 7, and the relative positions of the robot and the tooling table can meet the space requirement that the robot grabs the steel wire thread insert from the feeding table and moves to the position above the tooling table to install the steel wire thread insert in the installation process. The tooling table 4 is used for installing products such as a box body, a shell and the like.
The industrial camera 2 and the tightening shaft 3 are fixed on the main shaft of the robot 1, wherein the tightening shaft 3 is fixed at the end of the main shaft of the robot 1. The operation panel 6 is arranged outside the protective cover, an operator outputs an operation instruction through the operation panel, and the relative position of the operation panel and the whole installation system ensures convenient operation of the operator. The control system is used for overall control of hardware such as the robot, the tightening shaft, the industrial camera and the like. The robot 1 adopts a KUKA five-axis robot.
The robot 1 receives a robot execution program output by the control system, drives the industrial camera and the tightening shaft to move together, the industrial camera finishes part photographing, and the tightening shaft cooperates with the tightening shaft to finish steel wire thread insert installation.
The industrial camera 2 takes a picture of the part and transmits the picture to the control system, the control system finishes comparison between the picture and a prestored picture to obtain the part type, and a prestored robot program is called according to the part type to drive the robot to move; and (4) shooting the part which is installed with the steel wire thread insert, comparing the picture which is completed by the control system with the prestored picture, and judging the installation quality according to the consistency of the picture and the prestored picture.
The tightening shaft 3 is provided with a displacement sensor and a torque sensor, when the robot drives the tightening shaft to move to the loading platform 5, the loading platform 5 pushes the wire thread insert into the sleeve of the tightening shaft, and the robot drives the tightening shaft to move to the position above the part threaded hole at the tooling platform 4. The tightening shaft rotates to install the steel wire thread insert into the threaded hole, and the displacement sensor and the torque sensor acquire displacement and torque data in real time. The sensor plays two roles, firstly, acquires the installation parameters of the steel wire thread insert and provides a data base for the optimization of technological parameters, secondly, monitors the installation parameters in real time in the installation process of the steel wire thread insert, and gives an alarm when abnormal, thereby playing a role in strengthening the control of the installation process of the steel wire thread insert.
The operation table 6 is provided with a host and a display screen, the control system is installed in the host, and the display screen displays alarm information, operation prompt information, process parameters and the like in real time.
The protective cover 7 surrounds a working area, is provided with the safety door and the laser grating, the safety door is used for feeding and discharging parts, when personnel enter the laser grating area, the equipment is automatically stopped, and meanwhile, the equipment works in an opening state of the safety door.
The control system comprises a data storage module, a signal processing module and a process parameter optimization module, wherein the data storage module stores industrial cameras, displacement sensors, torque sensors, robot execution programs, alarm information, quality data and the like according to categories; the signal processing module outputs a driving robot instruction, a tightening shaft working instruction and a receiving robot execution feedback instruction according to signal triggering and signal receiving instructions in a robot execution program, and determines whether the robot finishes the action of the working process and can perform the next action or not according to the signal receiving instruction; the process parameter optimization module receives the steel wire thread insert installation torque and the displacement parameters collected by the displacement sensor and the torque sensor, simultaneously calls quality data stored by the data storage module in the control system, establishes the relation among the installation torque, the displacement parameters and the installation quality through data statistics and analysis, realizes the reconstruction of a steel wire thread insert installation quality model, optimizes the process parameters according to the reconstructed model, calculates the optimized process parameters according to the reconstructed model according to the factors such as part materials, steel wire thread insert specifications and the like, and the robot and the tightening shaft execute the steel wire thread insert installation according to the optimized process parameters.
The working process of the steel wire thread insert mounting system comprises the following steps:
1) an operator presses an equipment starting button on an operation table, equipment is electrified to work, the safety door is opened, the operator places parts on a tool table for fixing, a steel wire thread sleeve is placed on a corresponding feeding table according to types, the safety door is closed, laser gratings work, if a person is caught, objects (including hands) enter a protection area, the robot does not move, a control system gives an alarm, and the robot starts to work until no object exists in the protection area.
2) The control system calls a prestored program to drive the robot to grab the steel wire thread insert and move to the position above the part on the tool table, at the moment, an industrial camera installed at the tail end of the robot starts to work, the part is photographed to obtain a photo, the photo is compared with the part photo prestored by the control system, if the photo is inconsistent with the part photo prestored by the control system, an alarm is given, whether the part is the part to be provided with the steel wire thread insert needs to be manually checked, and the control system sends a signal for executing the next step until the photo is compared.
3) The control system drives the robot and the tightening shaft to install the steel wire thread insert according to the technological parameters optimized by the technological parameter optimization module, the displacement sensor and the torque sensor on the tightening shaft monitor parameters such as torque and depth in real time, and the control system acquires and stores the parameters in real time. When the parameters are abnormal, the control system gives an alarm to prompt, the steel wire thread insert with abnormal installation is manually checked and processed, 1 steel wire thread insert is installed, the industrial camera shoots, and the pictures are stored after comparison. 4) And repeating the step 2) and the step 3) until all the steel wire thread inserts are installed.
The control system for optimizing the process parameters based on model reconstruction is the key point of the invention, realizes the accurate execution of the installation of the steel wire thread insert by integrating the robot, the tightening shaft, the data storage and the process parameter optimization, provides a reliable method for the acquisition of the process parameters and the real-time monitoring of the process parameters, and solves the core problem that the assembly quality is difficult to control stably.
Claims (1)
1. The utility model provides a steel wire swivel nut installing the system which characterized by: the mounting system comprises a robot 1, an industrial camera 2, a tightening shaft 3, a tool table 4, a feeding table 5, an operating table 6, a protective cover 7 and a control system; the robot 1, the feeding table 2 and the tooling table 4 are arranged in a protective cover 7, the tooling table 4 is used for installing products needing to be assembled with steel wire thread sleeves, the industrial camera 2 is fixed on a main shaft of the robot 1, the tightening shaft 3 is fixed at the end part of the main shaft of the robot 1, the operating table 6 is arranged outside the protective cover, an operator outputs an operating instruction through the operating table, the robot 1 receives a robot execution program output by a control system, the industrial camera and the tightening shaft are driven to move together, the industrial camera finishes part photographing, and the tightening shaft finishes steel wire thread sleeve installation;
the industrial camera 2 takes a picture of the part and transmits the picture to the control system, the control system compares the picture with a prestored picture to obtain the part type, and calls a prestored robot executive program according to the part type to drive the robot to move according to the robot executive program; the industrial camera 2 takes a picture of the part which finishes the installation of the steel wire thread insert, and the control system finishes the comparison of the picture with a prestored picture so as to judge the installation quality;
a displacement sensor and a torque sensor are fixed on the tightening shaft 3, and the displacement sensor and the torque sensor acquire displacement and installation torque data of the steel wire thread insert in real time;
the operating platform 6 is provided with a host and a display screen, the control system is solidified in the host, and the display screen displays alarm information, operation prompt information and process parameters in real time;
the control system is used for carrying out overall control on the robot, the tightening shaft and the industrial camera and comprises a data storage module, a signal processing module and a process parameter optimization module; the data storage module stores the industrial camera, the displacement sensor, the torque sensor, the robot execution program, the alarm information and the quality data according to categories; the signal processing module outputs a driving robot instruction, a tightening shaft working instruction and a receiving robot execution feedback instruction according to signal triggering and signal receiving instructions in a robot execution program, and determines whether the robot finishes the action of the working process and can perform the next action or not according to the signal receiving instruction; the process parameter optimization module receives the steel wire thread insert installation torque and the displacement parameters collected by the displacement sensor and the torque sensor, simultaneously calls quality data stored by a data storage module in the control system, establishes the relation among the installation torque, the displacement parameters and the installation quality through data statistics and analysis, realizes the reconstruction of a steel wire thread insert installation quality model, obtains optimized process parameters according to the reconstructed quality model, and the control system controls the robot and the tightening shaft to execute the steel wire thread insert installation according to the part material, the steel wire thread insert specification and the optimized process parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011500806.9A CN112676817B (en) | 2020-12-17 | 2020-12-17 | Steel wire thread insert mounting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011500806.9A CN112676817B (en) | 2020-12-17 | 2020-12-17 | Steel wire thread insert mounting system |
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| CN112676817A true CN112676817A (en) | 2021-04-20 |
| CN112676817B CN112676817B (en) | 2022-05-17 |
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| CN202011500806.9A Active CN112676817B (en) | 2020-12-17 | 2020-12-17 | Steel wire thread insert mounting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115609255A (en) * | 2022-09-30 | 2023-01-17 | 陕西法士特齿轮有限责任公司 | Steel wire thread insert installation abnormity processing system and method |
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| CN112676817B (en) | 2022-05-17 |
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